#!/usr/bin/env python
#license removed for brevity
import rospy
from xjtu_manipulation.msg import ManiProcessCmd

def talker():
    pub = rospy.Publisher('mani_process', ManiProcessCmd, queue_size=10)
    rospy.init_node('custom_msg_talker', anonymous=True)
    rate = rospy.Rate(10)  # 10hz

    while not rospy.is_shutdown():
        msg = ManiProcessCmd()
        msg.level1_name = "Hello, this is a custom message!"
        msg.value = 42
        rospy.loginfo(msg)
        pub.publish(msg)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass